KR102144243B1 - Movement generating platform assembly - Google Patents

Abstract

The vehicle system includes a base, a vehicle, and a platform assembly positioned between the base and the vehicle, and an extension mechanism connected to the platform assembly and positioned between the base and the vehicle. . The platform assembly includes a first platform, a second platform, and six legs extending between the first platform and the second platform, the platform assembly being different based on which of the six legs is actuated. The configuration is configured to actuate each of the six legs to move the first platform relative to the second platform. Each extension mechanism is configured to extend and retract to move the vehicle vehicle away from and towards the base of the vehicle system.

Description

Movement generating platform assembly

Cross-reference to related applications

This application is for multipurpose purposes in the United States of America in the name of the invention "Inverted Stewart Platform and Flying Reaction Deck", filed on February 8, 2017, which is incorporated herein by reference in its entirety. Claims the priority of patent application 62/456,506 and its interests.

Field

The present disclosure relates generally to the field of amusement parks. In particular, embodiments of the present disclosure relate to vehicle systems and methods having features that enhance the guest experience.

Various rides and exhibits have been created to provide guests with unique interactive movements and visual experiences. For example, a traditional vehicle may include a vehicle running along a track. The track may include parts that cause movement (eg, turn, fall) or operate the vehicle. However, traditional vehicle operation (eg, via a curved track) can be expensive and may include a large ride footprint. In addition, conventional vehicle operation (eg, via a curved track) may be limited with respect to certain desired movements and thus may not create a desired sensation in the passenger.

Accordingly, there is a need for an improved vehicle operation of the vehicle that can alleviate or eliminate the drawbacks of the prior art.

Specific embodiments corresponding to the scope of the initially claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the disclosure, but rather to provide a brief summary of the specific disclosed embodiments. Indeed, the present disclosure may cover various forms that may be similar or different from the embodiments described below.

In one embodiment, the vehicle system includes a base, a vehicle vehicle, and a platform assembly positioned between the base and the vehicle vehicle, and a platform assembly connected to the platform assembly and positioned between the base and the vehicle vehicle. Includes an extension mechanism. The platform assembly includes a first platform, a second platform, and six legs extending between the first platform and the second platform, wherein the second platform has a different configuration based on which of the six legs is actuated. Configured to operate each of the six legs to move the first platform relative to the two platforms. Each extension mechanism is configured to extend and retract to move the vehicle vehicle away from and towards the base of the vehicle system.

In another embodiment, the vehicle system includes a platform assembly, the platform assembly including a first platform, a second platform, and six legs extending between the first and second platforms. The first platform includes a first fixed position in which a first leg and a second leg are coupled among the six legs, a second fixed position in which a third leg and a fourth leg are coupled among the six legs, and the six And a third fixed position in which the fifth leg and the sixth leg are engaged among the legs. The second platform includes a fourth fixed position in which the third leg and the sixth leg are coupled, a fifth fixed position in which the second leg and the fifth leg are coupled, and the first leg and the fourth leg It includes a sixth fixed position to engage. The first fixed position is aligned with the fourth fixed position when the six legs have the same length, the second fixed position is aligned with a fifth fixed position when the six legs have the same length, the The third fixed position is aligned with the sixth fixed position when the six legs have the same length.

In another embodiment, a method of operating the vehicle vehicle includes supporting the vehicle vehicle under a track of the vehicle system via a plurality of cables. The method also includes monitoring the force in the vehicle system via a controller. The method also includes adjusting the torque outputs of the plurality of motors based on the monitored forces in the vehicle system, via commands by the controllers of the plurality of motors corresponding to the plurality of cables.

These and other features, aspects, and advantages of the present disclosure will be better understood when reading the following detailed description with reference to the accompanying drawings in which like characters indicate like parts throughout the drawings.
1 is a schematic diagram of an embodiment of a vehicle system having a platform assembly, an extension mechanism, and feedback control features in accordance with an embodiment of the present disclosure.
2 is a schematic diagram of a side view of one embodiment of a vehicle system including a flying reaction deck having a platform assembly with an Inverted Stewart flatform in accordance with an embodiment of the present disclosure.
3 is a schematic diagram of a side view of one embodiment of the vehicle system of FIG. 2 with a flying reaction deck having an inverted Stewart platform according to an embodiment of the present disclosure.
4 is a schematic diagram of a perspective view of one embodiment of the vehicle system of FIG. 2 with a flying reaction deck having an inverted Stewart platform according to an embodiment of the present disclosure.
5 is a schematic diagram of a side view of another embodiment of a vehicle system having a flying reaction deck with an inverted Stewart platform according to an embodiment of the present disclosure.
6 is a schematic diagram of a perspective view of an embodiment of an inverted Stewart platform according to an embodiment of the present disclosure.
7 is a schematic diagram of a perspective view of an embodiment of the inverted Stewart platform of FIG. 6 in accordance with an embodiment of the present disclosure.
8 is a schematic diagram of a perspective view of an embodiment of the inverted Stewart platform of FIG. 6 according to an embodiment of the present disclosure.
9 is a schematic diagram of a perspective view of another embodiment of an inverted Stewart platform according to an embodiment of the present disclosure.
10 is a schematic diagram of a perspective view of an embodiment of an actuator used in the inverted Stewart platform of FIG. 9 according to an embodiment of the present disclosure.
11 is a schematic diagram of a side view of another embodiment of a vehicle system having a flying reaction deck with an inverted Stewart platform according to an embodiment of the present disclosure.
12 is a schematic diagram of a side view of another embodiment of a vehicle system having a flying reaction deck with an inverted Stewart platform according to an embodiment of the present disclosure.
13 is a schematic view of a side view of another embodiment of a vehicle system having a flying reaction deck with an inverted Stewart platform according to an embodiment of the present disclosure.
14 is a block diagram illustrating one embodiment of a process for controlling a flying reaction deck having a platform assembly with an inverted Stewart platform according to an embodiment of the present disclosure.

One or more specific embodiments of the present disclosure are described below. In order to provide a concise description of these embodiments, all features of actual implementations may not be described in the specification. In developing any such actual implementation, as in any engineering or design project, in order to achieve the developer's specific goals, such as complying with system-related and business-related constraints, various implementation-specific decisions must be made. This may vary from implementation to implementation. Further, it should be understood that such development efforts will be complex and time consuming, but nevertheless can be a routine of design, fabrication and manufacture to those skilled in the art having the advantage of the present disclosure.

Embodiments of the present disclosure relate to amusement park rides and exhibits. In particular, a motion-based system and corresponding technology, which may be designed or intended to allow passengers to perceive a specific sense, are adopted for boarding devices and exhibits (otherwise, recognition of the specific sense is not possible or significantly Would have been reduced). In the currently disclosed vehicles and exhibits, the passenger experience may be enhanced by using specific motion-based systems and technologies. For example, the vehicle system may include a device or devices that create up to six degrees of freedom to provide a passenger with a sensation that cannot normally be produced with conventional methods (eg, turn, fall). The device comprises two platforms, which platforms may be joined via legs extending between them. The legs are joined at a specific position along the two platforms at an angle to the two platforms, causing the two platforms to move relative to each other when the leg (or corresponding feature) is actuated. One way of connecting platforms through legs according to the present disclosure is referred to herein as a "reversed Stewart platform", which is different from the traditional Stewart platform. The traditional Stewart platform can also be described as having opposite platforms connected by legs. Here the legs extend in pairs from three extension areas on each of the two opposing platforms. The inverted Stewart platform includes six legs extending between opposing platforms, wherein the six legs extend from a position along the opposing platform and between the opposing platforms in a substantially different manner than that of a traditional Stewart platform. Oriented. The different positioning/orientation of the inverted Stewart platform, which will be described in detail below with reference to the drawings, is configured to improve the stability of the inverted Stewart platform and the corresponding vehicle components, among others.

In general, the first of the two platforms of the above-described inverted Stewart platform may be combined (or corresponded) with the vehicle or exhibit of the amusement park ride, while the second of the two platforms is It can be combined (or corresponded) to the track (or the base of the exhibit). In some embodiments, the extension mechanism may be disposed between the first platform and the vehicle vehicle, or between the second platform and the track or base. The legs connecting the first and second platforms are controlled (e.g., retracted, elongated or otherwise actuated) to move the first platform relative to the second platform and are coupled to the first platform (or The corresponding vehicle vehicle may be moved together with the first platform. In embodiments with the aforementioned extension mechanism, the extension mechanism is actuated independently or in conjunction with the aforementioned legs of an inverted Stewart platform to augment, supplement, or augment the motion and corresponding sensation imparted by the inverted Stewart platform. You can also interact with.

The presently described embodiments allow a wide range of motion without requiring the use of a curved track. Accordingly, the footprint of the vehicle system according to the present embodiment may be reduced. In addition, the presently disclosed embodiment may increase the range of motion of the vehicle vehicle, and may enable a more finely tuned operation than the conventional vehicle system. For example, a wider range of motion may be provided through an inverted Stewart platform, and an inverted Stewart platform may help improve vehicle stability. In addition, activation may be given to the vehicle vehicle without the occupant of the vehicle vehicle seeing the operating source. As such, the presently disclosed embodiments may enhance the ride experience by putting passengers in a three-dimensional environment without an obvious track or base. In certain embodiments, the environment of the vehicle system may include features that are distinct from the vehicle vehicle and/or track, where the environmental features appear as if the environmental features themselves impart operation to the vehicle vehicle. To be positioned, oriented, or otherwise positioned (actually the operation originated from the inverted Stewart platform and/or extension mechanism as described above). In other words, the presently disclosed embodiments may facilitate operation through parts that are not recognized by occupants of the vehicle vehicle. In addition, this embodiment allows vehicle designers to deliver simulated experiences including displacement, velocity, acceleration and jerk while on any part of the vehicle track, which reduces cost and technical complexity. May be. Further, the disclosed embodiments are configured to detect and manage reaction forces associated with motion of the vehicle vehicle. The above and other features will be described in detail below with reference to the drawings.

In addition to the above aspects, the arrangement of motion controlled axes according to the present disclosure provides geometric stability due to a sharper operating angle than conventional approaches for a given gross motion base volumetric envelope. . In one preferred embodiment, this generates a larger force component in the direction of stabilizing the lateral motion between the motion-based mounting surfaces. In addition, the reduced operating angle may facilitate making the platform size smaller, as described in detail below with reference to the drawings.

1 is a schematic diagram of one embodiment of a vehicle system 10 having a track 12. Track 12 may be a circuit in which the vehicle vehicle 14 of the vehicle system 10 starts at a portion of the track 12 and eventually returns to the same portion of the track 12. Track 12 may include a turn, uphill or downhill, or the track (or portions thereof) may extend in a single direction. In certain embodiments, the vehicle vehicle 14 may move under the track 12 (ie, down) for the duration or portion of the vehicle. The boarding vehicle 14 may also include a number of passengers 16 disposed within the boarding vehicle 14. In certain embodiments, vehicle 14 may include an exterior (eg, a cabin) surrounding passenger 16. Passengers 16 may get on or off the boarding vehicle 14 on a portion of the track 12 (eg, a dock). In other embodiments, the track 12 may or may not be used as part of the vehicle.

The vehicle vehicle 14 may also include a platform assembly 18 that directs movement on the vehicle vehicle 14. In certain embodiments, the platform assembly 18 may be directly connected to the track 12 and/or may be connected directly to the vehicle vehicle 14. In another embodiment, the platform assembly 18 may be indirectly connected to the track 12 and/or may be indirectly connected to the vehicle vehicle 14, wherein the intervening component connects the platform assembly 18 to the track 12. ) And/or the vehicle (14). The platform assembly 18 may induce movement (eg, rolling, pitching, yawing) on the vehicle 14 on board the vehicle 14 to enhance the experience of the passenger 16. In some embodiments, an extension mechanism 19 may be disposed between the platform assembly 18 and the track 12 (as shown) or between the platform assembly 18 and the vehicle vehicle 14. The platform assembly 18 and the extension mechanism 19 may be communicatively coupled to the controller 20, wherein the controller 20 causes the platform assembly 18 and/or the extension mechanism 19 to cause the aforementioned movement. You can also instruct. The platform assembly 18 and/or the extension mechanism 19 is used to induce a certain movement in the vehicle vehicle 14, which is otherwise expensive and increases the footprint of the vehicle vehicle 10. 12)'s features (eg shapes) are reduced or invalidated.

The controller 20 may be disposed within the vehicle system 10 (e.g., in each vehicle 14 or somewhere on the track 12), or (e.g., the vehicle system 10 ) May be placed outside of the vehicle system 10) to operate remotely. The controller 20 may also include a memory 22 with stored instructions for controlling components within the vehicle system 10 such as the platform assembly 18. Further, the controller 20 may include a processor 24 configured to execute these instructions. For example, processor 24 may include one or more application specific integrated circuits (ASICs), one or more field programmable gate arrays (FPGAs), one or more general purpose processors, or any combination thereof. Further, the memory 22 may include volatile memory such as random access memory (RAM) and/or non-volatile memory such as read-only memory (ROM), optical drive, hard disk drive, or solid state drive.

The platform assembly 18 may include an inverted Stewart platform. An example of an inverted Stewart platform is shown in detail in at least Figures 6-9, which are described in detail below. Typically, an inverted Stewart platform includes two platforms, between which the legs of the inverted Stewart platform (eg, six legs) extend. Each platform includes three contact areas (eg, “fixed position”) to which the legs are engaged. In some embodiments, each contact area (e.g., a fixed position) on one of the platforms is a winch or winches configured to receive the leg, or the leg penetrates to engage a winch or winches on the other side of the platform. It may also include an extending opening.

Since each platform, e.g., the first platform, includes three contact areas and six legs extending therefrom, the first pair of legs extends from the first contact area of the first platform, and the second pair of legs is the first. It extends from a second contact area of the first platform, and a third pair of legs extends from a third contact area of the first platform. The six legs are configured to be actuated (eg, by a winch) to vary the length of the six legs during operation of the inverted Stewart platform. For example, the legs may be operated independently, operated in pairs, or operated in various arrangements so that different legs have different lengths during a particular mode of operation. According to the present disclosure, when all six legs have the same length, the two platforms are parallel to each other (eg, “parallel position” of the inverted Stewart platform). Further, when all six legs have the same length, the three contact areas of the first platform are aligned in the circumferential direction with the three contact areas of the second platform. In other words, from a view just above or below the inverted Stewart platform, the aforementioned three contact areas of the first platform and the three contact areas of the second platform will be placed in an aligned annular position. That is, the respective contact areas on the first and second platforms are aligned in this configuration, and they are distributed generally along the circumference of each of the first and second platforms (or radially inward from the circumference). In addition, when all six legs have the same length, an angle formed between one of the individual legs and the platform may be 45 degrees or less according to an embodiment of the present disclosure. Among other things, this feature in particular improves the stability of the inverted Stewart platform compared to the traditional platform.

2 shows another embodiment of the vehicle system 50 according to this embodiment. Vehicle system 50 includes an inverted Stewart platform 58 and extension mechanism 60, which may be collectively or individually referred to as a “flying reaction deck” (or as part of a “flying reaction deck”). . The extension mechanism 60 and/or the inverted Stewart platform 58 (or other platform assembly) may also be referred to as “flying reaction decks” because they are curved in the track 52 of the vehicle system 50. It will be appreciated that this is because it induces motion with respect to the vehicle vehicle 54 of the vehicle system 50 without the use of and because the passenger(s) may not know the source of the movement. Thus, the flying reaction deck is configured to impart a specific sensation to the passenger in the vehicle vehicle 54 through movement.

As an example, the extension mechanism 60 (or flying reaction deck or part thereof) may provide additional athletic complexity to a vehicle system including a simple track. As a specific example, a vehicle system with a straight track may be implemented to feel as if there are hills, valleys, and/or curves using the extension mechanism 60. Accordingly, the extension mechanism 60 moves the vehicle 54 to impart movement without having to use a curved track of a large area. By reducing the curve (and thus area) of the track 52, the parts of the vehicle system 50 may be placed in a smaller area while still imparting a sense to the passengers of the vehicle vehicle 54. In the conventional embodiment, a larger area was required. The inverted Stewart platform 58 may also impart movement (eg, rolling, pitching, yawing) that may be imparted by the track in conventional embodiments. It should be noted that in other embodiments, a different type of platform assembly may be used than the inverted Stewart platform 58 described above. In addition, an inverted Stewart platform 58 is schematically shown in FIG. 2, although more detailed examples are provided in FIGS. 6-9.

Continuing with the illustrated embodiment of FIG. 2, the track 52 is directly connected to a mount 56 (eg a bogie). In certain embodiments, the mount 56 may use a wheel that is fixed on and may roll on the track 52. The mount 56 may be coupled to the inverted Stewart platform 58 via the extension mechanism 60 described above. Extension mechanism 60 may use a scissor lift, actuator (e.g., hydraulic or pneumatic), or any combination thereof to couple mount 56 with inverted Stewart platform 58. have. The extension mechanism 60 may provide more than one degree of freedom (eg, vertical arrangement in the direction 53) for the vehicle vehicle 14. For example, as the vehicle vehicle 54 travels along the track 52, the vehicle vehicle 54 may come across a segment of the track 52 where lifting of the vehicle vehicle 54 is required. have. Thus, instead of using the curvature of the track 52 in the direction 53 to move the vehicle vehicle 54 along the direction 53, the extension mechanism 60 is actuated to accommodate the vehicle vehicle 54 It can also be lifted to a vertical position. In this way, the extension mechanism 60 may control the position of the vehicle vehicle 54 along the direction 53 without creating a hill or dips in the track 52, thus allowing the track 52 Reduce manufacturing costs. Another embodiment of the vehicle system 50 is shown in FIG. 3. In this embodiment the inverted Stewart platform 58 is directly coupled to the mount 56 and/or track 52, and the extension mechanism 60 is between the vehicle vehicle 54 and the inverted Stewart platform 58. It is coupled to the vehicle vehicle 54.

4 is a more detailed schematic diagram of a perspective view of one embodiment of the vehicle system 50 of FIG. 2. As shown in FIG. 4, the extension mechanism 60 is coupled to the upper platform 80 of the inverted Stewart platform 58. The winch 82 may be disposed generally along the outer periphery of the upper platform 80 (or radially inward therefrom). The inverted Stewart platform 58 includes a set of legs 84 (eg, six legs) that couple the upper platform 80 with the lower platform 86. In certain embodiments, the legs 84 extending between the two platforms 80, 86 may be cables or ropes coupled to the winch 82 on the upper platform 80. In this way, the winch 82 may extend and/or retract the corresponding leg 84 to achieve the desired motion. Winch 82 may be communicatively connected to controller 20 that controls when leg 84 extends and/or retracts by directing operation of winch 82. For example, in certain embodiments, the controller 20 is programmed to activate the winch 82 to extend and/or retract the leg 84 (e.g., in a specific segment along the track circuit) at specific time intervals. It could be. The controller 20 may control the winch 82 independently, in pairs, or otherwise such that the legs 84 may be controlled independently, in pairs, or otherwise. In addition, the controller 20 may monitor the force imparted on the leg 84 of the inverted Stewart platform 58 to ensure that the induced movement remains within a desired threshold. It should be noted that in some embodiments, the winch 82 may be coupled to the lower platform 86 instead of the upper platform 80 or alternatively between the upper and lower platforms 80, 86. In another embodiment, there may be pairs of winches that couple together via a single cord (eg, cable or rope) to provide redundant and additional capability (eg, speed of expansion or contraction).

In the illustrated embodiment, the legs 84 are coupled to the lower platform 86 at the attachment point 88 (or attachment area) via fasteners, hooks, welding, other suitable coupling features, or any combination thereof. . The attachment point 88 securely couples the leg 84 to the lower platform 86. The lower platform 86 is connected to the vehicle vehicle 54. Thus, when the winch 82 along the upper platform 50 is operated to change the length of the leg 84, the winch 82 bridges the lower platform 86 and the attached vehicle vehicle 54 to the leg ( 84) towards the upper platform 50. The above description refers to three contact areas (eg “fixed position”) along each platform, but each platform may actually contain 6 contact areas (eg fixed position) grouped into pairs, Here, the two contact areas of a predetermined pair are disposed immediately adjacent to each other.

The embodiment of the vehicle system shown in FIGS. 2-4 allows the inverted Stewart platform 58 and extension mechanism 60 to move with the vehicle vehicle 54. In addition, the inverted Stewart platform 58 and extension mechanism 60 can be provided with a vehicle vehicle (e.g., based on a limited field of view created by the position of the window 90 disposed on the vehicle vehicle 54). 54) may be concealed from the view of passengers placed in). As such, passengers placed in the boarding vehicle 54 may not be able to predict when the movement will occur. This may lead to unexpected movements that enhance the passenger's experience. Further, since the inverted Stewart platform 58 and the extension mechanism 60 move with the vehicle vehicle 54, movement may be induced in any part of the track 52, and this movement may result in the movement of the track 52. It is not limited to the elements placed on it. This allows for greater flexibility in creating movement and sensation, and allows for greater flexibility in vehicle system 10 because additional elements that create movement (e.g., additional actuators or track segments) can be replaced with these features. It can also reduce the cost of manufacturing. Further, the size of the track 52 may be reduced because of the use of the inverted Stewart platform 58 and the extension mechanism 60 (rather than the track curvature which may increase the footprint) to create a specific movement. In some embodiments, the illustrated extension mechanism 60 and the inverted Stewart platform 58 are fixed to an exhibit that does not include a vehicle (e.g., the track 52 and mount 56 shown in FIG. Or it may be used if it is replaced by a limited range of bases. In each of Figures 2-4, the disclosed inverted Stewart platform, extension mechanism 60, or both are configured to manage reaction forces associated with motion of vehicle vehicle 54 during operation of vehicle system 50. do.

In another embodiment of the vehicle system 50 as schematically shown in FIG. 5, instead of the extension mechanism 60 of FIGS. 2-4 (using a scissor lift), a cable 110 may be used. have. These cables 110 may be part of an actuation system (eg, configured to stretch or contract cables 110 through a winch) or may be fixed. In each case, a mode of operation may occur when individual control of each of the legs of the cable 110 and/or the inverted Stewart platform 58 in response to a reaction force associated with the motion of the vehicle vehicle 54 is required. have. For example, when more passengers are located at one end of the vehicle 54 than the other passengers, or during the course of operation, the operation of the platform assembly 58 (e.g., inverted Stewart platform) When moving the weight of the vehicle vehicle 54, the movement of the vehicle vehicle 54 may be at least partially cycle dependent. That is, the reaction force caused by the motion of the vehicle 54 may vary from operation cycle to operation, and the cable 110 and/or platform assembly 58 (e.g., reversed Stewart platform) in response to the reaction force Individual control of the legs of the vehicle may improve the stability of the vehicle system 50. In such a situation, control techniques may be implemented in a way that manages the cycle-dependent reaction force through control feedback. For example, controller 20 may receive sensor feedback from sensors 111 distributed around system 50. The sensor 111 may be placed on the mount 56, on the track 52, on the platform assembly 58, on the vehicle vehicle 54, or elsewhere. The sensor 111 may comprise a torque sensor or other suitable sensor that detects the torque of the vehicle vehicle 54. In some embodiments, the sensor 111 may include an optical sensor (or other suitable sensor) that detects the position or orientation of the vehicle vehicle 54, which may indicate torque or twist of the vehicle vehicle 54. have. For example, the location or orientation of the vehicle vehicle 54 may represent a force within the system 50.

The controller 20 may analyze sensor feedback from one or more of the sensors 111, and initiate/initiate control of the tension of the cable 110 by using a torque compensation algorithm (e.g., The extension/retraction of the leg 84 may be initiated by a motor associated with the winch 82 of 4) or other actuators (eg, shown and described with respect to FIGS. 9 and 10). In some embodiments, each of the sensors 111 is part of a corresponding motor or other actuator that controls the cable 110 and/or the leg 84 of the platform assembly 58 (e.g., inverted Stewart platform). Thus, the motor or other actuator controls the cable 110 and/or leg 84 as a source of the detected parameter. By doing so, it is also possible to prevent the cable 110 and/or leg 84 from loosening. In other words, the torque compensation algorithm monitors the force of the vehicle system 50 and adjusts the torque output of the motor or other actuator, thereby controlling the movement of the legs 84 and/or cables 110 from loosening, Accordingly, the stability of the vehicle system 50 is improved.

The embodiments shown in FIGS. 2-5 also prevent external perturbations (e.g., via a water jet) that the vehicle vehicle may be used to guide the vehicle vehicle 54 along the route. It is also possible to have an improved ability to maintain the stability of the vehicle vehicle 54 while experiencing. Indeed, as described above, the motion of the vehicle vehicle 54 may vary from operating cycle to operation cycle, and in certain cases may vary according to external perturbations associated with or not associated with the vehicle system 50. Regardless of whether the movement of the vehicle vehicle 54 is caused by features of the vehicle system 50 or by external features that interact with the vehicle system 50, the vehicle vehicle 54 Even when the position, direction, and general movement of) change dynamically during the course of the vehicle or from operation cycle to operation cycle, stability of the vehicle vehicle 54 is ensured through the implementation of torque, tension and/or feedback.

6 is a schematic diagram of an embodiment of an inverted Stewart platform 150 similar to that shown in the preceding figures. The inverted Stewart platform 150 is between the first platform 152 (e.g. upper platform), the second platform 154 (e.g. lower platform), and upper platform 152 and lower platform 154 It includes six extending legs 156, 158, 160, 162, 164, 166 (collectively referred to as "legs 84"). Six legs 84, one or both of the upper and lower platforms 152, 154 have six degrees of freedom (ie, direction 51, direction 53, direction 57, Roland 141, pitching 143 and yaw 145] may be independently and/or connected to each other so as to be retractable and extensible. In a specific embodiment, the lower platform 154 may be connected to a vehicle with a plurality of passengers disposed therein or may be integral with the vehicle. Thus, when the six legs 84 are actuated (eg, when retracted/extended), the lower platform 154 and the vehicle on board may move in one of six degrees of freedom. Further, in certain embodiments, the upper platform 152 may be connected to or integral with the track of the vehicle system such that the vehicle vehicle is positioned below the track. Thus, when the upper platform 152 slides along the track of the vehicle system, the lower platform 154 and the corresponding vehicle vehicle move along the same path. In another embodiment, a reverse arrangement is employed such that the vehicle vehicle extends over the track and the lower platform 154 is connected to the vehicle vehicle.

In the illustrated embodiment, the upper platform 152 includes three contact areas 152a, 152b, 152c (e.g., "fixed positions"), and the lower platform 154 includes three different contact areas ( 154a, 154b, 154c) (e.g. fixed positions), which are substantially each other along the circumference of each upper and lower platform 152, 154 within each upper and lower platform 152, 154. They are spaced circumferentially by the same distance. As described above, the winch may be disposed in the contact areas 152a, 152b, 152c, in the contact areas 154a, 154b, 154c, or both, and legs (via the motor of the winch or the motor coupled to the winch) It may also be configured to stretch/contract 84.

As shown, each of the contact areas 152a, 152b, 152c, 154a, 154b, 154c accommodates two of the six legs 84. Also, if all of the six legs 84 have the same length (e.g., so that the upper and lower platforms 152, 154 are parallel to each other as shown), the three contact areas of the upper platform 152 ( 152a, 152b, 152c are generally circumferentially aligned with the three contact areas 154a, 154b, 154c of lower platform 154 (e.g., aligned along circumferential direction 159). This may be referred to as the “parallel position” of the inverted Stewart platform 150. Therefore, assuming that the platforms 152 and 154 have the same size in a parallel position, the contact area 152a is generally aligned below the contact area 154a, and the contact area 152b is below the contact area 154b. It can be said that the contact area 152c is generally aligned below the contact area 154c. The leg 156 coupled to the contact region 152a extends to the contact region 154b, and the leg 158 coupled to the contact region 152a extends to the contact region 154c. The leg 160 coupled to the contact region 152b extends to the contact region 154a, and the leg 162 coupled to the contact region 152b extends to the contact region 154c. The leg 164 coupled to the contact region 152c extends to the contact region 154a, and the leg 166 coupled to the contact region 152c extends to the contact region 154b. Thus, in the illustrated embodiment, each leg 84 extends from the initial contact area to the contact area of the opposite platform that is not directly above or below the initial contact area (ie, at the same x, y position).

The configuration of the inverted Stewart platform 150 described above (e.g., during operation), even when the legs 84 have a different length, compared to the conventional embodiment, each leg 84 and each upper and lower Reduce the angle 155 between the platforms. The reduction in the angle 155 of the leg 84 of the inverted Stewart platform 150 (compared to the conventional embodiment) creates a greater restoring force on the leg 84, thereby creating a greater stability of the inverted Stewart platform 150. Can also improve. For example, a decrease in angle 155 may increase the overall stiffness of the inverted Stewart platform 150 to reduce undesirable motion. In addition, the traditional Stewart platform assembly may include one large platform to provide stability, but the reduction in angle 155 described above promotes stability for smaller platforms. In some embodiments, the platforms 152, 154 may not have the same size, and in these embodiments, the contact areas 152a, 152b, 152c have contact areas 154a, 154b, 154c and the circumferential direction 159. They will still be aligned accordingly. However, assuming that the upper platform 152 is of a larger size, the contact areas 152a, 152b, 152c of the upper platform 152 are not disposed directly above the contact areas 154a, 154b, 154c of the lower platform 154. Alternatively, it may be arranged in a circumferential direction or annularly (eg, along direction 159) in alignment with the contact area radially outward from the contact area of the lower platform.

As mentioned above, the arrangement shown in FIG. 6 allows a reduction in angle 155 between any given leg 84 and corresponding platform 152 or 154 compared to a traditional Stewart platform. In one embodiment, when all the legs 156, 158, 160, 162, 164, 166 have the same length, the angle 155 formed between each leg 84 and the platforms 152, 154 is 45 degrees or less. to be. The disclosed arrangement produces a compact structure that allows stable movement with multiple degrees of freedom in accordance with this embodiment. As noted above, the traditional Stewart platform assembly may include a large platform to provide stability, but the reduction in angle 155 described above in connection with the disclosed embodiments promotes stability for the small platform.

In the illustrated embodiment of the inverted Stewart platform 150, to facilitate consistent movement and force distribution, the legs 84 may alternate between being “outer leg” and “inner leg”. In other words, when starting from the contact area 152a on the upper platform 152 and moving in a counterclockwise direction, the leg 156 ("inner leg") of the contact area 152a is It extends toward the inside, and the leg 158 ("outer leg") of the contact area 152a extends toward the outside of the leg 164. Next, when moving to the contact area 152c, the leg 164 ("inner leg") of the contact area 152c extends between the legs 158 and 162, and the legs 166 (166) of the contact area 152c ( The "outer leg") extends outward of the leg 162. Next, when moving to the contact area 152b, the leg 162 ("inner leg") extends between the legs 164 and 166, and the leg 160 ("outer leg") of the contact area 152b It extends out of the leg 156. Of course, a similar but inverse arrangement may be implemented by changing each of the outer leg and the inner leg. In other embodiments, different arrangements may be used.

7 shows an embodiment of the inverted Stewart platform 150 of FIG. 6 with a lower platform 152 in a different position/orientation. As shown in FIG. 7, the lower platform 154 is such that the contact area 154a is further away from the upper platform 154 along the direction 53 than in the case of the “parallel position” described with respect to FIG. 6. Moved. To achieve this position, the legs 160 and 164 may be extended through the winch 180 (and its corresponding motor) to lower the contact area 154a in the direction 53. Likewise, the legs 158 and 162 may be contracted using the winch 180. If the legs 158 and 162 are retracted to a sufficient length, the contact area 154c may move closer to the upper platform 152 along the direction 53 than in the case in the "parallel position" described with respect to FIG. 6. have. In other words, the legs 84 may be adjusted to enable the depicted position and maintain stability in the inverted Stewart platform 150. With this positioning, the inverted Stewart platform 150 may induce a sense to the passenger by moving the vehicle of the vehicle. For example, the boarding vehicle vehicle may be connected to the lower platform 154, and the positioning shown in FIG. 7 may allow the boarding device vehicle to go to an inclined or descending position. Since the inverted Stewart platform 150 comprises a circular arrangement, similar positioning may be made for other contact areas. In addition, repositioning may be instructed in a quick sequential order to improve the senses. In addition, repositioning may be instructed to manage or compensate for the reaction force exerted on the system by the boarding vehicle connected to the inverted Stewart platform 150. As such, passengers on the boarding vehicle may be aware that the boarding vehicle is "emergency" or "reacting" to various forces without imparting some force using track curvature, and The stability of the vehicle system may be controlled in situations where the movement deviates from the desired movement.

8 is a schematic diagram of one embodiment of an inverted Stewart platform 150. As shown in FIG. 8, the location of the lower platform 154 is further along direction 53 from the upper platform 152 than that shown in FIG. 6. In other words, the distance 171 between the platforms 152 and 154 in FIG. 8 is longer than in FIG. 6. Such a configuration may be created through elongation of all legs 156, 158, 160, 162, 164, 166 at the same time, for example. Distance 171 can be changed even when inverted Stewart platform 150 is not in the aforementioned parallel position. Of course, in other operating sequences, the platforms 152 and 154 may be pulled together through the retraction of the leg 84. In either sequence, by means of a new positioning, it is also possible to adjust the height of the ride vehicle (i.e., along direction 53), which may enhance the passenger's experience. For example, the vehicle vehicle may be lowered to be close to an element outside the vehicle vehicle (eg, an exhibit or attraction adjacent to the vehicle vehicle). It is also possible to enhance the ride experience by creating a sensation (ie, “falling” sensation) to the passenger when the ride vehicle descends.

As shown in Figures 7 and 8, the inverted Stewart platform 150 may induce several different movements in the vehicle vehicle. As such, the features of the track used to direct motion to the vehicle vehicle may be reduced, which may reduce the size and/or cost of the vehicle system. As described above, the inverted Stewart platform 150 and the extension mechanism (e.g., extension mechanism 60 in FIGS. You can also imitate your senses. For example, the inverted Stewart platform 150 is tilted (and/or boarded) with the vertical movement of the vehicle vehicle induced by the extension mechanism (e.g., extension mechanism 60 in FIGS. 2-5). Because it allows vertical lifting of the instrument vehicle 54), the track may no longer have a sloped hill. This may reduce the manufacturing cost of the track and vehicle system as a whole, and may reduce the footprint of the track and vehicle system as a whole.

Also, in FIGS. 6-8, the upper platform 152 and the lower platform 154 are shown as circular slabs, but may be of any suitable shape in other embodiments. Further, the upper platform 152 and the lower platform 154 may have different shapes with respect to each other. As mentioned above, in one embodiment, the upper platform 152 is a track or extension mechanism (e.g., via an intervening bogie that slides along the track) (e.g. extension mechanism 60 in FIGS. 2-5). It may be combined with, the lower platform 154 may be combined with the vehicle vehicle. In this embodiment, the vehicle vehicle may be suspended from the track as shown in Figures 2 and 4 (showing the vehicle vehicle 54 and the track 52).

9 shows another embodiment of the platform assembly 200. The platform assembly 200 may include an upper platform 202 and a lower platform 204. In this embodiment, legs 206, 208, 210, 212, 214, 216 may be stretched and/or retracted by actuator 230. As such, the legs may be joined to the winch or may not contain cables or ropes. However, a winch may also be used in combination with the actuator 230.

To provide a more detailed view of one of the legs 84, FIG. 10 shows an embodiment of an actuator 230 that may be used in the platform assembly 200. As shown in the figure, the actuator 230 may include an intermediate segment 232 and two leg segments 234 connected to both ends of each intermediate segment 232. Leg segment 234 may be metal, carbon fiber, other suitable material, or any combination thereof to allow a stable coupling with actuator 230. The intermediate segment 232 may also cause the leg segment 234 to be telescopically folded in and out of the intermediate segment 232 to actuate the actuator 230 (e.g., retract or elongate the corresponding leg, respectively). .

Further embodiments of a vehicle system using the platform assembly and/or extension mechanism(s) are described below. For example, FIG. 11 is a schematic diagram of one embodiment of a system having a cabin 252 positioned atop a base 254 and atop an intervening platform assembly 256 (e.g., an inverted Stewart platform), wherein In the platform assembly 256 is coupled to the cabin 252 and the base 254. In this way, the cabin 252 is oriented in a different manner than that shown in FIG. 2 with respect to the track 54. A window 258 may be positioned or placed on the cabin 252 to allow or block the view of certain features from inside the cabin 252, as described above. The base 254 may be a track, or may be a fixed base associated with an exhibit or show. In some embodiments, the base 254 may be an open path through which the cabin 252 and the corresponding inverted Stewart platform 256 may travel (eg, via a wheel). It should be noted that the cabin 252 may be replaced with a show element in certain embodiments.

12 is a schematic diagram of one embodiment of a system 300 in which the cabin 302 of the system 300 is disposed on the side of the base 304 (eg, in the direction 51 ). Here, the platform assembly 306 (e.g., the reversed Stewart platform) is located at a certain distance spaced apart from the base 304 in the direction 51, and the cabin 302 is connected to the platform assembly 306 It is located at a greater distance as (51). Like FIG. 11, a window 308 may be disposed on the cabin 302 to allow or block the view of certain features from inside the cabin 302. As mentioned above, the base 304 may be a track or a fixed structure. Also, although the cabin 302 is shown in the illustrated embodiment, the cabin 302 may be replaced with a show element in certain embodiments.

In another embodiment, as shown in FIG. 13, system 350 may include a platform assembly 352 (eg, an inverted Stewart platform) implemented in a performance show. The upper platform 354 of the platform assembly 352 can be connected to a stage 356 and the lower platform 358 is attached to the stationary element 360 (e.g., the floor or ground below the stage 356). It can also be connected. Thus, stage 356 may be configured to hold one or more people (or show elements/parts), and may be configured to move relative to stationary element 360. For example, more than one person may be performing an act, and the platform assembly 352 may move the stage 356 to enhance the performance. In the systems shown in Figs. 11 to 13, the controller (e.g., the controller 20 of Fig. 1), at least similar to the description described above with reference to Fig. 5, is used for each vehicle system (e.g. For example, you can also monitor the force applied to each leg).

14 illustrates an embodiment of a method 400 for controlling a vehicle system according to the present disclosure. Method 400 includes receiving (block 402) a signal indicative of positioning a platform assembly (or platform thereof) (eg, at a controller). For example, certain movements of the platform assembly would be desirable to move (e.g., roll, pitch, yaw, up or down) a vehicle vehicle connected to the platform assembly (e.g., to a lower platform of the platform assembly). May be. It should be noted that the platform assembly may be an inverted Stewart platform assembly, and in some embodiments, the vehicle system may be a stage or other show exhibit where a fixed base replaces the track.

The method 400 also extends and/or retracts (block 404) some of the legs of the platform assembly through the command of a motor winch or other actuator by the control so that the platform assembly (or platform thereof) 402). As described above, when the platform assembly moves, the vehicle or cabin of the system (or the stage in an embodiment relating to a show or exhibit) moves, which is the load path between the vehicle and the track (e.g. May cause reaction force in the extension cable).

The method 400 also includes measuring, sensing, or detecting (block 406) a reaction force (or a parameter representing force) in the vehicle system. For example, as described above, a torque sensor, optical sensor, or other sensor may be used to detect a force in the vehicle system (or a parameter representing the force, such as the orientation of the vehicle vehicle). The controller may receive the sensor feedback and, based on the torque compensation algorithm, determine how to optimally manage the recoil load/force exerted by the motion of the vehicle vehicle.

Method 400 also includes determining an adjustment to the system through a controller that analyzes reaction forces through a torque compensation algorithm (block 407). The method 400 also includes adjusting the legs and/or extension cables of the platform assembly (block 408). As described above, the controller determines the desired adjustment and instructs the motor or other actuator to adjust the tension of the leg and/or extension cable (e.g., by stretching or retracting the leg and/or extension cable). It may be possible, which prevents the legs and/or extension cables from loosening.

The systems and methods described above are configured to be able to manage the recoil load on the vehicle system due to movement of the vehicle vehicle, wherein the movement is to the extension mechanism and/or platform assembly (e.g., inverted Stewart platform). Caused by The extension mechanism and/or platform assembly moves the vehicle vehicle without using a curved track (otherwise the curved track will occupy a large space and increase the footprint of the vehicle system). Feedback control allows the system to monitor the reaction force caused by the movement of the vehicle vehicle and adjusts the system to maintain the stability of the vehicle system.

While only certain features of the present disclosure have been shown and described herein, many modifications and variations will occur to those skilled in the art. Therefore, it is to be understood that the appended claims are intended to cover all such modifications and variations that fall within the true spirit of this disclosure.

Claims (20)

In the vehicle system,
Bass;
A boarding vehicle;
A platform assembly having a first platform, a second platform, and six legs extending between the first platform and the second platform, the platform assembly being positioned between the base and the vehicle vehicle, the platform assembly comprising: Configured to actuate each of the six legs to move the first platform relative to the second platform in a different configuration based on which of the six legs are actuated;
Positioned between the base and the vehicle vehicle, connected to the platform assembly, each configured to extend and contract to move the vehicle vehicle away from and towards the base of the vehicle system, and a plurality of An extension mechanism including a cable;
A controller communicatively connected to a plurality of motors configured to selectively wind up a plurality of cables,
The controller:
Monitoring the force of the vehicle system caused by the operation of at least one of the six legs,
Configured to adjust the torque output of the plurality of motors based on the force monitored by the controller
Vehicle system. The method of claim 1,
The platform assembly is positioned between the base and the extension mechanism.
Vehicle system. The method of claim 1,
The platform assembly is positioned between the vehicle and the extension mechanism.
Vehicle system. The method of claim 1,
The first platform includes a first fixed position in which a first leg pair is coupled among the six legs, a second fixed position in which a second leg pair among the six legs is coupled, and a third leg pair among the six legs is coupled. A third fixed position;
The second platform includes a fourth fixed position in which the first leg of the second leg pair and the first leg of the third leg pair are coupled, the first leg of the first leg pair, and the third leg pair of the third leg pair. A fifth fixed position to which the two legs are coupled, and a sixth fixed position to which the second leg of the first leg pair and the second leg of the second leg pair are coupled;
The first fixed position is aligned with the fourth fixed position when the six legs have the same length, the second fixed position is aligned with a fifth fixed position when the six legs have the same length, the The third fixed position is aligned with the sixth fixed position when the six legs have the same length.
Vehicle system. The method of claim 1,
Each leg of the six legs forms a first angle of 45 degrees or less with the first plane of the first platform, and each leg of the six legs is a second angle of 45 degrees or less with the second plane of the second platform Forming
Vehicle system. The method of claim 1,
Comprising a plurality of winches configured to extend six legs, retract six legs, or both
Vehicle system. The method of claim 1,
The base includes a track configured to translate the vehicle vehicle or a fixed base on which the vehicle vehicle is disposed.
Vehicle system. The method of claim 1,
The boarding vehicle is suspended under the base or cantilevered from the base.
Vehicle system. The method of claim 1,
The boarding device vehicle is positioned above the base
Vehicle system. In the vehicle system comprising a platform assembly,
The platform assembly comprising a first platform connected to the vehicle vehicle, a second platform, and six legs extending between the first platform and the second platform;
The first platform includes a first fixed position in which a first leg and a second leg are coupled among the six legs, a second fixed position in which a third leg and a fourth leg are coupled among the six legs, and the six A third fixed position in which the fifth leg and the sixth leg are engaged;
The second platform includes a fourth fixed position in which the third leg and the sixth leg are coupled, a fifth fixed position in which the second leg and the fifth leg are coupled, and the first leg and the fourth leg Includes a sixth fixed position to engage;
The first fixed position is aligned with the fourth fixed position when the six legs have the same length, the second fixed position is aligned with a fifth fixed position when the six legs have the same length, the The third fixed position is aligned with the sixth fixed position when the six legs have the same length.
Vehicle system. The method of claim 10,
Of the six legs, each leg forms a first angle of 45 degrees or less with the first plane of the first platform, and each of the six legs is a second angle of 45 degrees or less with the second plane of the second platform. Forming
Vehicle system. The method of claim 10,
Comprising six actuators corresponding to the six legs and configured to be controlled to change the length of the six legs
Vehicle system. The method of claim 10,
A base to which the platform assembly is directly or indirectly coupled;
And an extension mechanism configured to change the distance of the boarding vehicle vehicle from the base.
Vehicle system. The method of claim 10,
A plurality of winches disposed in proximity to the first fixed position, the second fixed position, and the third fixed position of the first platform, and the plurality of winches extend the six legs, or the six Configured to retract the dog's legs, or do both
Vehicle system. The method of claim 10,
An extension mechanism having a plurality of cables extending between the platform assembly and a mount of the vehicle system;
A plurality of motors configured to selectively wind up the plurality of cables;
A controller communicatively connected to the plurality of motors,
The controller:
Monitoring the force of the vehicle system caused by the operation of at least one of the six legs,
Configured to adjust the torque output of the plurality of motors based on the force monitored by the controller
Vehicle system. delete delete delete delete delete

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